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<h2 id="启动相机查看点云话题名称"><a href="#启动相机查看点云话题名称" class="headerlink" title="启动相机查看点云话题名称"></a>启动相机查看点云话题名称</h2><figure class="highlight bash"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br></pre></td><td class="code"><pre><span class="line"><span class="built_in">source</span> ./devel/setup.bash</span><br><span class="line">roslaunch realsense2_camera demo_pointcloud.launch </span><br></pre></td></tr></table></figure>
<p><img src="https://github.com/ckyFi9zero/picx-images-hosting/raw/master/20250731/image.26lscio3jf.webp" alt="image"></p>
<p>点云话题名称为：&#x2F;camera&#x2F;depth&#x2F;color&#x2F;points</p>
<h2 id="编写保存点云数据的节点"><a href="#编写保存点云数据的节点" class="headerlink" title="编写保存点云数据的节点"></a>编写保存点云数据的节点</h2><figure class="highlight c++"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br><span class="line">29</span><br><span class="line">30</span><br><span class="line">31</span><br><span class="line">32</span><br><span class="line">33</span><br><span class="line">34</span><br><span class="line">35</span><br><span class="line">36</span><br><span class="line">37</span><br><span class="line">38</span><br><span class="line">39</span><br><span class="line">40</span><br><span class="line">41</span><br><span class="line">42</span><br><span class="line">43</span><br><span class="line">44</span><br><span class="line">45</span><br><span class="line">46</span><br><span class="line">47</span><br><span class="line">48</span><br><span class="line">49</span><br><span class="line">50</span><br><span class="line">51</span><br><span class="line">52</span><br><span class="line">53</span><br><span class="line">54</span><br><span class="line">55</span><br><span class="line">56</span><br><span class="line">57</span><br><span class="line">58</span><br><span class="line">59</span><br><span class="line">60</span><br><span class="line">61</span><br><span class="line">62</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment">//save_cloud.cpp</span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;ros/ros.h&gt;</span>                      <span class="comment">// 引入 ROS 核心头文件，提供 ROS 节点、话题、服务等功能</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;pcl_ros/point_cloud.h&gt;</span>         <span class="comment">// 引入 PCL-ROS 桥接头文件，支持 ROS 与 PCL 点云数据格式转换</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;pcl/io/pcd_io.h&gt;</span>               <span class="comment">// 引入 PCL 的 PCD 文件读写功能</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;sstream&gt;</span>                       <span class="comment">// 引入字符串流，用于把数字转成字符串</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;string.h&gt;</span>                      <span class="comment">// 引入 C 风格字符串处理函数（实际上用 &lt;string&gt; 即可）</span></span></span><br><span class="line"></span><br><span class="line"><span class="keyword">typedef</span> pcl::PointXYZRGB PointT;         <span class="comment">// 给 pcl::PointXYZRGB 起别名 PointT，方便书写</span></span><br><span class="line"><span class="keyword">typedef</span> pcl::PointCloud&lt;PointT&gt; PointCloudT; <span class="comment">// 给 pcl::PointCloud&lt;PointT&gt; 起别名 PointCloudT</span></span><br><span class="line"></span><br><span class="line"><span class="function">PointCloudT::Ptr <span class="title">cloud</span><span class="params">(<span class="keyword">new</span> PointCloudT)</span></span>; <span class="comment">// 定义一个指向点云对象的共享指针并初始化，全局变量</span></span><br><span class="line"></span><br><span class="line"><span class="comment">//std::string world_frame_id;             // （已注释掉）用于保存世界坐标系 id</span></span><br><span class="line">std::string frame_id;                    <span class="comment">// 保存接收到的点云所在坐标系的 id</span></span><br><span class="line"></span><br><span class="line">std::string path;                        <span class="comment">// 保存保存文件时的目标文件夹路径</span></span><br><span class="line"></span><br><span class="line"><span class="comment">// 回调函数：每次收到点云消息时被调用</span></span><br><span class="line"><span class="function"><span class="type">void</span></span></span><br><span class="line"><span class="function"><span class="title">cloud_cb</span> <span class="params">(<span class="type">const</span> PointCloudT::ConstPtr&amp; callback_cloud)</span></span></span><br><span class="line"><span class="function"></span>&#123;</span><br><span class="line">  *cloud = *callback_cloud;              <span class="comment">// 把接收到的点云内容拷贝到全局变量 cloud 中</span></span><br><span class="line">  frame_id = cloud-&gt;header.frame_id;     <span class="comment">// 获取点云的坐标系 id 并保存到 frame_id</span></span><br><span class="line"></span><br><span class="line">  std::stringstream ss;                  <span class="comment">// 创建字符串流</span></span><br><span class="line">  std::string s1;                        <span class="comment">// 用于保存时间戳字符串</span></span><br><span class="line">  ss &lt;&lt; ros::Time::<span class="built_in">now</span>();                <span class="comment">// 把当前 ROS 时间（秒+纳秒）写入字符串流</span></span><br><span class="line">  s1 = ss.<span class="built_in">str</span>();                         <span class="comment">// 把流内容转成字符串</span></span><br><span class="line"></span><br><span class="line">  <span class="comment">// 构造保存文件名：路径 + 固定前缀 + 坐标系 + 时间戳 + .pcd</span></span><br><span class="line">  std::string file_name = path + <span class="string">&quot;cloud_&quot;</span> + frame_id.<span class="built_in">substr</span>(<span class="number">0</span>, frame_id.<span class="built_in">length</span>()) + <span class="string">&quot;_&quot;</span> + s1 + <span class="string">&quot;.pcd&quot;</span>;</span><br><span class="line">  std::cout &lt;&lt; file_name &lt;&lt; std::endl;   <span class="comment">// 打印文件名到终端，便于调试</span></span><br><span class="line"></span><br><span class="line">  <span class="comment">// 以二进制格式保存点云到 PCD 文件</span></span><br><span class="line">  pcl::io::<span class="built_in">savePCDFileBinary</span>(file_name, *cloud);</span><br><span class="line">&#125;</span><br><span class="line"></span><br><span class="line"><span class="function"><span class="type">int</span></span></span><br><span class="line"><span class="function"><span class="title">main</span> <span class="params">(<span class="type">int</span> argc, <span class="type">char</span>** argv)</span></span></span><br><span class="line"><span class="function"></span>&#123;</span><br><span class="line">  ros::<span class="built_in">init</span>(argc, argv, <span class="string">&quot;save_cloud&quot;</span>);   <span class="comment">// 初始化 ROS 节点，节点名称为 save_cloud</span></span><br><span class="line">  <span class="function">ros::NodeHandle <span class="title">nh</span><span class="params">(<span class="string">&quot;~&quot;</span>)</span></span>;               <span class="comment">// 创建私有节点句柄，方便读取私有参数</span></span><br><span class="line"></span><br><span class="line">  <span class="comment">// 以下三行是硬编码的默认值，实际项目中通常用下面注释掉的 nh.param 从 launch 文件读取</span></span><br><span class="line">  std::string pointcloud_topic = <span class="string">&quot;/camera/depth/color/points&quot;</span>; <span class="comment">// 默认订阅的话题名</span></span><br><span class="line">  path = <span class="string">&quot;/home/bbb/pointtest/&quot;</span>;      <span class="comment">// 默认保存路径</span></span><br><span class="line"></span><br><span class="line">  <span class="comment">/*  // 从 launch 文件读取参数（已注释掉）</span></span><br><span class="line"><span class="comment">  nh.param(&quot;pointcloud_topic&quot;, pointcloud_topic, std::string(&quot;/camera/depth_registered/points&quot;));</span></span><br><span class="line"><span class="comment">  nh.param(&quot;world_frame_id&quot;, world_frame_id, std::string(&quot;/odom&quot;));</span></span><br><span class="line"><span class="comment">  nh.param(&quot;path&quot;, path, std::string(&quot;/home/ubuntu1/pointtest/&quot;));</span></span><br><span class="line"><span class="comment">  std::cout &lt;&lt; &quot;Read some parameters from launch file.&quot; &lt;&lt; std::endl;</span></span><br><span class="line"><span class="comment">  */</span></span><br><span class="line"></span><br><span class="line">  <span class="comment">// 创建订阅者，订阅指定话题，队列长度 1，收到消息时调用 cloud_cb 回调函数</span></span><br><span class="line">  ros::Subscriber sub = nh.<span class="built_in">subscribe</span>(pointcloud_topic, <span class="number">1</span>, cloud_cb);</span><br><span class="line">  std::cout &lt;&lt; <span class="string">&quot;receive messages successfully!&quot;</span> &lt;&lt; std::endl;  <span class="comment">// 提示订阅成功</span></span><br><span class="line"></span><br><span class="line">  ros::<span class="built_in">spin</span>();                           <span class="comment">// 进入循环，等待并处理回调函数，直到节点关闭</span></span><br><span class="line"></span><br><span class="line">  <span class="keyword">return</span> <span class="number">0</span>;                              <span class="comment">// 正常退出</span></span><br><span class="line">&#125;</span><br></pre></td></tr></table></figure>

<h2 id="启动节点"><a href="#启动节点" class="headerlink" title="启动节点"></a>启动节点</h2><figure class="highlight bash"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br></pre></td><td class="code"><pre><span class="line"><span class="built_in">source</span> ./devel/setup.bash</span><br><span class="line">rosrun my_savecloud_tutorials save_cloud </span><br></pre></td></tr></table></figure>

<p>可以发现点云数据成功保存<br><img src="https://github.com/ckyFi9zero/picx-images-hosting/raw/master/20250731/image.92qfwpdpb8.webp" alt="image"></p>
</article><div class="post-copyright"><div class="post-copyright__author"><span class="post-copyright-meta"><i class="fas fa-circle-user fa-fw"></i>文章作者: </span><span class="post-copyright-info"><a href="https://ckyfi9zero.github.io">Fi9zero</a></span></div><div class="post-copyright__type"><span class="post-copyright-meta"><i class="fas fa-square-arrow-up-right fa-fw"></i>文章链接: </span><span class="post-copyright-info"><a href="https://ckyfi9zero.github.io/2025/07/31/2025-07-31-ROS%E4%B8%8B%E8%BF%9B%E8%A1%8C%E7%82%B9%E4%BA%91%E6%95%B0%E6%8D%AE%E5%AE%9E%E6%97%B6%E8%8E%B7%E5%8F%96/">https://ckyfi9zero.github.io/2025/07/31/2025-07-31-ROS%E4%B8%8B%E8%BF%9B%E8%A1%8C%E7%82%B9%E4%BA%91%E6%95%B0%E6%8D%AE%E5%AE%9E%E6%97%B6%E8%8E%B7%E5%8F%96/</a></span></div><div class="post-copyright__notice"><span class="post-copyright-meta"><i class="fas fa-circle-exclamation fa-fw"></i>版权声明: </span><span class="post-copyright-info">本博客所有文章除特别声明外，均采用 <a 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